diff --git a/components/usb/hcd_dwc.c b/components/usb/hcd_dwc.c
index 53fdb0a189..a5ea7d736f 100644
--- a/components/usb/hcd_dwc.c
+++ b/components/usb/hcd_dwc.c
@@ -62,7 +62,7 @@
 // FS: Must be 2-64. HS: Must be 8-256. See USB-OTG databook Table 5-47
 #define XFER_LIST_LEN_INTR                      FRAME_LIST_LEN
 #define XFER_LIST_LEN_ISOC                      64  // Implement longer ISOC transfer list to give us enough space for additional timing margin
-#define XFER_LIST_ISOC_MARGIN                   2   // The 1st ISOC transfer is scheduled 2 (micro)frames later so we have enough timing margin
+#define XFER_LIST_ISOC_MARGIN                   3   // The 1st ISOC transfer is scheduled 3 (micro)frames later so we have enough timing margin
 
 // ------------------------ Flags --------------------------
 
diff --git a/components/usb/test_apps/hcd/main/test_hcd_bulk.c b/components/usb/test_apps/hcd/main/test_hcd_bulk.c
index 8d72020012..8edcdd95ae 100644
--- a/components/usb/test_apps/hcd/main/test_hcd_bulk.c
+++ b/components/usb/test_apps/hcd/main/test_hcd_bulk.c
@@ -53,7 +53,7 @@ Procedure:
 #define TEST_NUM_SECTORS_TOTAL          10
 #define TEST_NUM_SECTORS_PER_XFER       2
 
-TEST_CASE("Test HCD bulk pipe URBs", "[bulk][full_speed]")
+TEST_CASE("Test HCD bulk pipe URBs", "[bulk][full_speed][high_speed]")
 {
     usb_speed_t port_speed = test_hcd_wait_for_conn(port_hdl);  // Trigger a connection
     vTaskDelay(pdMS_TO_TICKS(100)); // Short delay send of SOF (for FS) or EOPs (for LS)
diff --git a/components/usb/test_apps/hcd/main/test_hcd_ctrl.c b/components/usb/test_apps/hcd/main/test_hcd_ctrl.c
index 75190e41c8..6d951d0628 100644
--- a/components/usb/test_apps/hcd/main/test_hcd_ctrl.c
+++ b/components/usb/test_apps/hcd/main/test_hcd_ctrl.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -33,7 +33,7 @@ Procedure:
     - Expect URB to be USB_TRANSFER_STATUS_CANCELED or USB_TRANSFER_STATUS_COMPLETED
     - Teardown
 */
-TEST_CASE("Test HCD control pipe URBs", "[ctrl][low_speed][full_speed]")
+TEST_CASE("Test HCD control pipe URBs", "[ctrl][low_speed][full_speed][high_speed]")
 {
     usb_speed_t port_speed = test_hcd_wait_for_conn(port_hdl);  // Trigger a connection
     vTaskDelay(pdMS_TO_TICKS(100)); // Short delay send of SOF (for FS) or EOPs (for LS)
@@ -110,7 +110,7 @@ TEST_CASE("Test HCD control pipe URBs", "[ctrl][low_speed][full_speed]")
 /*
 Test HCD control pipe STALL condition, abort, and clear
 
-@todo this test is not passing with low-speed: test with bus analyzer
+@todo this test is not passing with low-speed: test with bus analyzer IDF-10995
 
 Purpose:
     - Test that a control pipe can react to a STALL (i.e., a HCD_PIPE_EVENT_ERROR_STALL event)
@@ -128,7 +128,7 @@ Procedure:
     - Dequeue URBs
     - Teardown
 */
-TEST_CASE("Test HCD control pipe STALL", "[ctrl][full_speed]")
+TEST_CASE("Test HCD control pipe STALL", "[ctrl][full_speed][high_speed]")
 {
     usb_speed_t port_speed = test_hcd_wait_for_conn(port_hdl);  // Trigger a connection
     vTaskDelay(pdMS_TO_TICKS(100)); // Short delay send of SOF (for FS) or EOPs (for LS)
@@ -217,6 +217,8 @@ TEST_CASE("Test HCD control pipe STALL", "[ctrl][full_speed]")
 /*
 Test control pipe run-time halt and clear
 
+@todo this test is not passing on P4: test with bus analyzer IDF-10996
+
 Purpose:
     - Test that a control pipe can be halted with HCD_PIPE_CMD_HALT whilst there are ongoing URBs
     - Test that a control pipe can be un-halted with a HCD_PIPE_CMD_CLEAR
diff --git a/components/usb/test_apps/hcd/main/test_hcd_isoc.c b/components/usb/test_apps/hcd/main/test_hcd_isoc.c
index 0526f866af..1f6420bf81 100644
--- a/components/usb/test_apps/hcd/main/test_hcd_isoc.c
+++ b/components/usb/test_apps/hcd/main/test_hcd_isoc.c
@@ -39,7 +39,7 @@ Procedure:
     - Teardown
 */
 
-TEST_CASE("Test HCD isochronous pipe URBs", "[isoc][full_speed]")
+TEST_CASE("Test HCD isochronous pipe URBs", "[isoc][full_speed][high_speed]")
 {
     usb_speed_t port_speed = test_hcd_wait_for_conn(port_hdl);  // Trigger a connection
     // The MPS of the ISOC OUT pipe is quite large, so we need to bias the FIFO sizing
@@ -114,7 +114,7 @@ Procedure:
     - Deallocate URBs
     - Teardown
 */
-TEST_CASE("Test HCD isochronous pipe URBs all", "[isoc][full_speed]")
+TEST_CASE("Test HCD isochronous pipe URBs all", "[isoc][full_speed][high_speed]")
 {
     usb_speed_t port_speed = test_hcd_wait_for_conn(port_hdl);  // Trigger a connection
     // The MPS of the ISOC OUT pipe is quite large, so we need to bias the FIFO sizing
@@ -163,7 +163,7 @@ TEST_CASE("Test HCD isochronous pipe URBs all", "[isoc][full_speed]")
             }
 
             // Add a delay so we start scheduling the transactions at different time in USB frame
-            esp_rom_delay_us(ENQUEUE_DELAY * interval + ENQUEUE_DELAY * channel);
+            esp_rom_delay_us(ENQUEUE_DELAY * (interval - 1) + ENQUEUE_DELAY * channel);
 
             // Enqueue URBs
             for (int i = 0; i < NUM_URBS; i++) {
@@ -226,7 +226,7 @@ Procedure:
     - Free both pipes
     - Teardown
 */
-TEST_CASE("Test HCD isochronous pipe sudden disconnect", "[isoc][full_speed]")
+TEST_CASE("Test HCD isochronous pipe sudden disconnect", "[isoc][full_speed][high_speed]")
 {
     usb_speed_t port_speed = test_hcd_wait_for_conn(port_hdl);  // Trigger a connection
     // The MPS of the ISOC OUT pipe is quite large, so we need to bias the FIFO sizing
diff --git a/components/usb/test_apps/hcd/main/test_hcd_port.c b/components/usb/test_apps/hcd/main/test_hcd_port.c
index f629920c0e..fe77f85604 100644
--- a/components/usb/test_apps/hcd/main/test_hcd_port.c
+++ b/components/usb/test_apps/hcd/main/test_hcd_port.c
@@ -30,7 +30,7 @@ Procedure:
     - Trigger the port disconnection event
     - Teardown port and HCD
 */
-TEST_CASE("Test HCD port disconnect event, port enabled", "[port][low_speed][full_speed]")
+TEST_CASE("Test HCD port disconnect event, port enabled", "[port][low_speed][full_speed][high_speed]")
 {
     usb_speed_t port_speed = test_hcd_wait_for_conn(port_hdl); // Trigger a connection
     printf("Connected %s speed device \n", (char*[]) {
@@ -63,7 +63,7 @@ Procedure:
     - Teardown port and HCD
 */
 
-TEST_CASE("Test HCD port sudden disconnect", "[port][low_speed][full_speed]")
+TEST_CASE("Test HCD port sudden disconnect", "[port][low_speed][full_speed][high_speed]")
 {
     usb_speed_t port_speed = test_hcd_wait_for_conn(port_hdl);  // Trigger a connection
     vTaskDelay(pdMS_TO_TICKS(100)); // Short delay send of SOF (for FS) or EOPs (for LS)
@@ -153,7 +153,7 @@ Procedure:
     - Cleanup default pipe
     - Trigger disconnection and teardown
 */
-TEST_CASE("Test HCD port suspend and resume", "[port][low_speed][full_speed]")
+TEST_CASE("Test HCD port suspend and resume", "[port][low_speed][full_speed][high_speed]")
 {
     usb_speed_t port_speed = test_hcd_wait_for_conn(port_hdl);  // Trigger a connection
     vTaskDelay(pdMS_TO_TICKS(100)); // Short delay send of SOF (for FS) or EOPs (for LS)
@@ -207,7 +207,7 @@ Procedure:
     - Check that a disconnection still works after disable
     - Teardown
 */
-TEST_CASE("Test HCD port disable", "[port][low_speed][full_speed]")
+TEST_CASE("Test HCD port disable", "[port][low_speed][full_speed][high_speed]")
 {
     usb_speed_t port_speed = test_hcd_wait_for_conn(port_hdl);  // Trigger a connection
     vTaskDelay(pdMS_TO_TICKS(100)); // Short delay send of SOF (for FS) or EOPs (for LS)
@@ -295,7 +295,7 @@ static void concurrent_task(void *arg)
     vTaskDelay(portMAX_DELAY);  // Block forever and wait to be deleted
 }
 
-TEST_CASE("Test HCD port command bailout", "[port][low_speed][full_speed]")
+TEST_CASE("Test HCD port command bailout", "[port][low_speed][full_speed][high_speed]")
 {
     test_hcd_wait_for_conn(port_hdl);  // Trigger a connection
     vTaskDelay(pdMS_TO_TICKS(100)); // Short delay send of SOF (for FS) or EOPs (for LS)
diff --git a/components/usb/test_apps/usb_host/main/test_usb_host_async.c b/components/usb/test_apps/usb_host/main/test_usb_host_async.c
index 4c86a5b547..e691708670 100644
--- a/components/usb/test_apps/usb_host/main/test_usb_host_async.c
+++ b/components/usb/test_apps/usb_host/main/test_usb_host_async.c
@@ -181,7 +181,7 @@ static void test_async_client_cb(const usb_host_client_event_msg_t *event_msg, v
     }
 }
 
-TEST_CASE("Test USB Host async API", "[usb_host][full_speed][low_speed]")
+TEST_CASE("Test USB Host async API", "[usb_host][low_speed][full_speed][high_speed]")
 {
     // Register two clients
     client_test_stage_t client0_stage = CLIENT_TEST_STAGE_NONE;
diff --git a/components/usb/test_apps/usb_host/main/test_usb_host_plugging.c b/components/usb/test_apps/usb_host/main/test_usb_host_plugging.c
index 9273b1ad09..bca179c58e 100644
--- a/components/usb/test_apps/usb_host/main/test_usb_host_plugging.c
+++ b/components/usb/test_apps/usb_host/main/test_usb_host_plugging.c
@@ -33,7 +33,7 @@ Procedure:
 
 #define TEST_DCONN_NO_CLIENT_ITERATIONS     3
 
-TEST_CASE("Test USB Host sudden disconnection (no client)", "[usb_host][full_speed][low_speed]")
+TEST_CASE("Test USB Host sudden disconnection (no client)", "[usb_host][low_speed][full_speed][high_speed]")
 {
     bool connected = false;
     int dconn_iter = 0;
@@ -83,7 +83,7 @@ Procedure:
 #define TEST_FORCE_DCONN_NUM_TRANSFERS      3
 #define TEST_MSC_SCSI_TAG                   0xDEADBEEF
 
-TEST_CASE("Test USB Host sudden disconnection (single client)", "[usb_host][full_speed]")
+TEST_CASE("Test USB Host sudden disconnection (single client)", "[usb_host][full_speed][high_speed]")
 {
     // Create task to run client that communicates with MSC SCSI interface
     const dev_msc_info_t *dev_info = dev_msc_get_info();
@@ -132,7 +132,7 @@ Procedure:
 
 #define TEST_ENUM_ITERATIONS    3
 
-TEST_CASE("Test USB Host enumeration", "[usb_host][full_speed]")
+TEST_CASE("Test USB Host enumeration", "[usb_host][full_speed][high_speed]")
 {
     // Create task to run client that checks the enumeration of the device
     TaskHandle_t task_hdl;